Engineering Mechanics:

Statics in SI Units, 12e

5

Equilibrium of a Rigid Body

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Chapter Outline
Conditions for Rigid Equilibrium
Equilibrium in two dimensions
1. Free-Body Diagrams
2. Equations of Equilibrium
3. Two and Three-Force Members

Equilibrium in three dimensions

1. Free Body Diagrams
2. Equations of Equilibrium
3. Constraints and Statical Determinacy

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5.1 Conditions for Rigid-Body Equilibrium

The equilibrium of a body is expressed as

FR F 0

M R O MO 0

Consider summing moments about some other point,

such as point A, we require

r FR M R O 0

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EQUILIBRIUM IN TWO
DIMENSIONS
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5.2 Free Body Diagrams

Procedure for Drawing a FBD
1. Draw Outlined Shape
2. Show All Forces and Couple Moments
3. Identify Each Loading and Give Dimensions

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Example 5.1
Draw the free-body diagram of the uniform beam. The
beam has a mass of 100kg.

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5.2 Free Body Diagrams

Support Reactions

If a support prevents the translation of a body in a

given direction, then a force is developed on the body
in that direction.
If rotation is prevented, a couple moment is exerted on
the body.

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5.2 Free Body Diagrams

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5.2 Free Body Diagrams

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5.2 Free Body Diagrams

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5.2 Free Body Diagrams

Forces

External and internal forces can act on a rigid body

For FBD, internal forces act between particles which
are contained within the boundary of the FBD, are not
represented
Particles outside this boundary exert external forces
on the system

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5.2 Free Body Diagrams

Weight and Center of Gravity

Each particle has a specified weight

System can be represented by a single resultant
force, known as weight W of the body
Location of the force application is known as the
center of gravity

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Example 5.4
Draw the free-body diagram of the unloaded platform
that is suspended off the edge of the oil rig. The platform
has a mass of 200 Kg.

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5.3 Equations of Equilibrium

For equilibrium of a rigid body in 2D,
Fx = 0;
Fy = 0;
MO = 0
Fx and Fy represent sums of x and y components of
all the forces
MO represents the sum of the couple moments and
moments of the force components
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Example 5.5
Determine the horizontal and vertical components of
reaction on the beam caused by the pin at B and the
rocker at A. Neglect the weight of the beam in the
calculations.

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Example 5.7
The member shown in the figure is pin-connected at A
and rests against a smooth support at B.
Determine the horizontal and vertical components of
reaction at the pin A.

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Example 5.9
Determine the horizontal and vertical components of
reaction on the member at the pin A, and the normal
reaction at the roller B in the figure.

Copyright 2010 Pearson Education South Asia Pte Ltd

Example 5.12
Determine the support reactions on the member in the
figure.
The collar at A is fixed to the member and can slide
vertically along the vertical shaft.

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5.4 Two- and Three-Force Members

Two-Force Members
When forces are applied at only two points on a
member, the member is called a two-force member
Only force magnitude must be determined

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5.4 Two- and Three-Force Members

Three-Force Members
When subjected to three forces, the forces are
concurrent or parallel

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Example 5.13
The lever ABC is pin-supported at A and connected to a
short link BD. If the weight of the members are negligible,
determine the force of the pin on the lever at A.

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